# Unable to get data on mavros side after upgrading the system from sdk-0.9 to staging version Source: https://forum.modalai.com/topic/2109/unable-to-get-data-on-mavros-side-after-upgrading-the-system-from-sdk-0-9-to-staging-version Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software) Tags: ros Posted: 2023-04-29 06:18:11 UTC by Tamas Pal 0 Replies: 4 · Views: 2025 ## Tamas Pal 0 · 2023-04-29 06:18:11 UTC Hi, I have upgraded the voxl2 from sdk-0.9 to staging version from. Now I am trying to run some ros scripts, I am getting some error. It is showing waiting for FCU connections after launching the scripts. I run the same scripts with sdk-0.9 packages, it works well in that. **Here I am getting data on ros side with fcu_url:=/dev/ttyHS1:921600** ``` voxl2:/etc/modalai$ roslaunch voxl_autonomy px4.launch fcu_url:=/dev/ttyHS1:921600 ... logging to /home/root/.ros/log/0a864ff8-b8fc-11ed-b6c5-54af97be95ca/roslaunch-m0054-5768.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://m0054:39499/ SUMMARY ======== CLEAR PARAMETERS * /mavros/ PARAMETERS * /mav_viz/arm_len: 0.25 * /mav_viz/body_height: 0.075 * /mav_viz/body_width: 0.075 * /mav_viz/child_frame_id: base_link * /mav_viz/fixed_frame_id: map_offset * /mav_viz/marker_scale: 0.75 * /mav_viz/num_rotors: 4 * /mav_viz/prop_direction: 1 * /mavros/camera/frame_id: base_link * /mavros/cmd/use_comp_id_system_control: False * /mavros/conn/heartbeat_rate: 1.0 * /mavros/conn/system_time_rate: 1.0 * /mavros/conn/timeout: 10.0 * /mavros/conn/timesync_rate: 10.0 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar * /mavros/distance_sensor/hrlv_ez4_pub/id: 0 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/laser_1_sub/id: 3 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270 * /mavros/distance_sensor/laser_1_sub/subscriber: True * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser * /mavros/distance_sensor/lidarlite_pub/id: 1 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270 * /mavros/distance_sensor/lidarlite_pub/send_tf: True * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0 * /mavros/distance_sensor/sonar_1_sub/id: 2 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270 * /mavros/distance_sensor/sonar_1_sub/subscriber: True * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0 * /mavros/fake_gps/eph: 2.0 * /mavros/fake_gps/epv: 2.0 * /mavros/fake_gps/fix_type: 3 * /mavros/fake_gps/geo_origin/alt: 408.0 * /mavros/fake_gps/geo_origin/lat: 47.3667 * /mavros/fake_gps/geo_origin/lon: 8.55 * /mavros/fake_gps/gps_rate: 5.0 * /mavros/fake_gps/mocap_transform: True * /mavros/fake_gps/satellites_visible: 5 * /mavros/fake_gps/tf/child_frame_id: fix * /mavros/fake_gps/tf/frame_id: map * /mavros/fake_gps/tf/listen: False * /mavros/fake_gps/tf/rate_limit: 10.0 * /mavros/fake_gps/tf/send: False * /mavros/fake_gps/use_mocap: True * /mavros/fake_gps/use_vision: False * /mavros/fcu_protocol: v2.0 * /mavros/fcu_url: /dev/ttyHS1:921600 * /mavros/gcs_url: * /mavros/global_position/child_frame_id: base_link * /mavros/global_position/frame_id: map * /mavros/global_position/gps_uere: 1.0 * /mavros/global_position/rot_covariance: 99999.0 * /mavros/global_position/tf/child_frame_id: base_link * /mavros/global_position/tf/frame_id: map * /mavros/global_position/tf/global_frame_id: earth * /mavros/global_position/tf/send: False * /mavros/global_position/use_relative_alt: True * /mavros/image/frame_id: px4flow * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0... * /mavros/imu/frame_id: base_link * /mavros/imu/linear_acceleration_stdev: 0.0003 * /mavros/imu/magnetic_stdev: 0.0 * /mavros/imu/orientation_stdev: 1.0 * /mavros/landing_target/camera/fov_x: 2.0071286398 * /mavros/landing_target/camera/fov_y: 2.0071286398 * /mavros/landing_target/image/height: 480 * /mavros/landing_target/image/width: 640 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL * /mavros/landing_target/listen_lt: False * /mavros/landing_target/mav_frame: LOCAL_NED * /mavros/landing_target/target_size/x: 0.3 * /mavros/landing_target/target_size/y: 0.3 * /mavros/landing_target/tf/child_frame_id: camera_center * /mavros/landing_target/tf/frame_id: landing_target * /mavros/landing_target/tf/listen: False * /mavros/landing_target/tf/rate_limit: 10.0 * /mavros/landing_target/tf/send: True * /mavros/local_position/frame_id: map * /mavros/local_position/tf/child_frame_id: base_link * /mavros/local_position/tf/frame_id: map * /mavros/local_position/tf/send: True * /mavros/local_position/tf/send_fcu: False * /mavros/mission/pull_after_gcs: True * /mavros/mission/use_mission_item_int: True * /mavros/mocap/use_pose: True * /mavros/mocap/use_tf: False * /mavros/odometry/fcu/odom_child_id_des: base_link * /mavros/odometry/fcu/odom_parent_id_des: map * /mavros/plugin_blacklist: ['safety_area', '... * /mavros/plugin_whitelist: [] * /mavros/px4flow/frame_id: px4flow * /mavros/px4flow/ranger_fov: 0.118682 * /mavros/px4flow/ranger_max_range: 5.0 * /mavros/px4flow/ranger_min_range: 0.3 * /mavros/safety_area/p1/x: 1.0 * /mavros/safety_area/p1/y: 1.0 * /mavros/safety_area/p1/z: 1.0 * /mavros/safety_area/p2/x: -1.0 * /mavros/safety_area/p2/y: -1.0 * /mavros/safety_area/p2/z: -1.0 * /mavros/setpoint_accel/send_force: False * /mavros/setpoint_attitude/reverse_thrust: False * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude * /mavros/setpoint_attitude/tf/frame_id: map * /mavros/setpoint_attitude/tf/listen: False * /mavros/setpoint_attitude/tf/rate_limit: 50.0 * /mavros/setpoint_attitude/use_quaternion: False * /mavros/setpoint_position/mav_frame: LOCAL_NED * /mavros/setpoint_position/tf/child_frame_id: target_position * /mavros/setpoint_position/tf/frame_id: map * /mavros/setpoint_position/tf/listen: False * /mavros/setpoint_position/tf/rate_limit: 50.0 * /mavros/setpoint_raw/thrust_scaling: 1.0 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED * /mavros/startup_px4_usb_quirk: True * /mavros/sys/disable_diag: False * /mavros/sys/min_voltage: 10.0 * /mavros/target_component_id: 1 * /mavros/target_system_id: 1 * /mavros/tdr_radio/low_rssi: 40 * /mavros/time/time_ref_source: fcu * /mavros/time/timesync_avg_alpha: 0.6 * /mavros/time/timesync_mode: MAVLINK * /mavros/vibration/frame_id: base_link * /mavros/vision_pose/tf/child_frame_id: vision_estimate * /mavros/vision_pose/tf/frame_id: odom * /mavros/vision_pose/tf/listen: False * /mavros/vision_pose/tf/rate_limit: 10.0 * /mavros/vision_speed/listen_twist: True * /mavros/vision_speed/twist_cov: True * /mavros/wheel_odometry/child_frame_id: base_link * /mavros/wheel_odometry/count: 2 * /mavros/wheel_odometry/frame_id: odom * /mavros/wheel_odometry/send_raw: True * /mavros/wheel_odometry/send_twist: False * /mavros/wheel_odometry/tf/child_frame_id: base_link * /mavros/wheel_odometry/tf/frame_id: odom * /mavros/wheel_odometry/tf/send: False * /mavros/wheel_odometry/use_rpm: False * /mavros/wheel_odometry/vel_error: 0.1 * /mavros/wheel_odometry/wheel0/radius: 0.05 * /mavros/wheel_odometry/wheel0/x: 0.0 * /mavros/wheel_odometry/wheel0/y: -0.15 * /mavros/wheel_odometry/wheel1/radius: 0.05 * /mavros/wheel_odometry/wheel1/x: 0.0 * /mavros/wheel_odometry/wheel1/y: 0.15 * /rosdistro: melodic * /rosversion: 1.14.13 NODES / map_offset_tf (tf/static_transform_publisher) mav_viz (mavros_extras/visualization) mavros (mavros/mavros_node) voxl_mavros_tf (tf/static_transform_publisher) voxl_tf_publisher (voxl_ros_utils/tf_publisher.py) voxl_voa_reader (voxl_ros_utils/mavros_voa_reader.py) ROS_MASTER_URI=http://localhost:11311 process[mavros-1]: started with pid [5791] [ INFO] [1677763430.831607377]: FCU URL: /dev/ttyHS1:921600 [ INFO] [1677763430.833271075]: serial0: device: /dev/ttyHS1 @ 921600 bps [ INFO] [1677763430.833363315]: GCS bridge disabled [ INFO] [1677763430.845173107]: Plugin 3dr_radio loaded [ INFO] [1677763430.846926284]: Plugin 3dr_radio initialized [ INFO] [1677763430.847032169]: Plugin actuator_control loaded [ INFO] [1677763430.849088419]: Plugin actuator_control initialized [ INFO] [1677763430.852417846]: Plugin adsb loaded [ INFO] [1677763430.855140242]: Plugin adsb initialized [ INFO] [1677763430.855253627]: Plugin altitude loaded [ INFO] [1677763430.855810867]: Plugin altitude initialized [ INFO] [1677763430.855887742]: Plugin cam_imu_sync loaded [ INFO] [1677763430.856262742]: Plugin cam_imu_sync initialized [ INFO] [1677763430.856336336]: Plugin camera loaded [ INFO] [1677763430.856703732]: Plugin camera initialized [ INFO] [1677763430.856779044]: Plugin cellular_status loaded [ INFO] [1677763430.858719721]: Plugin cellular_status initialized [ INFO] [1677763430.858813471]: Plugin command loaded [ INFO] [1677763430.866482013]: Plugin command initialized [ INFO] [1677763430.866609096]: Plugin companion_process_status loaded [ INFO] [1677763430.868946440]: Plugin companion_process_status initialized [ INFO] [1677763430.869058888]: Plugin debug_value loaded [ INFO] [1677763430.874093784]: Plugin debug_value initialized [ INFO] [1677763430.874144721]: Plugin distance_sensor blacklisted [ INFO] [1677763430.874250867]: Plugin esc_status loaded [ INFO] [1677763430.875261284]: Plugin esc_status initialized [ INFO] [1677763430.875350398]: Plugin esc_telemetry loaded [ INFO] [1677763430.875799044]: Plugin esc_telemetry initialized [ INFO] [1677763430.875911909]: Plugin fake_gps loaded [ INFO] [1677763430.887176232]: Plugin fake_gps initialized [ INFO] [1677763430.887350971]: Plugin ftp loaded [ INFO] [1677763430.891942586]: Plugin ftp initialized [ INFO] [1677763430.892094513]: Plugin geofence loaded [ INFO] [1677763430.894750763]: Plugin geofence initialized [ INFO] [1677763430.894882065]: Plugin global_position loaded [ INFO] [1677763430.906174929]: Plugin global_position initialized [ INFO] [1677763430.906308263]: Plugin gps_input loaded [ INFO] [1677763430.908028419]: Plugin gps_input initialized [ INFO] [1677763430.908118627]: Plugin gps_rtk loaded [ INFO] [1677763430.909979565]: Plugin gps_rtk initialized [ INFO] [1677763430.910101388]: Plugin gps_status loaded [ INFO] [1677763430.911614721]: Plugin gps_status initialized [ INFO] [1677763430.911758679]: Plugin guided_target loaded process[voxl_mavros_tf-2]: started with pid [5792] [ INFO] [1677763430.915063523]: Plugin guided_target initialized [ INFO] [1677763430.915229669]: Plugin hil loaded [ INFO] [1677763430.936170346]: Plugin hil initialized [ INFO] [1677763430.936353888]: Plugin home_position loaded [ INFO] [1677763430.939015346]: Plugin home_position initialized [ INFO] [1677763430.939115346]: Plugin imu loaded [ INFO] [1677763430.946994617]: Plugin imu initialized [ INFO] [1677763430.947121284]: Plugin landing_target loaded [ INFO] [1677763430.955133211]: Plugin landing_target initialized [ INFO] [1677763430.955238523]: Plugin local_position loaded [ INFO] [1677763430.959009929]: Plugin local_position initialized [ INFO] [1677763430.959146544]: Plugin log_transfer loaded [ INFO] [1677763430.960863107]: Plugin log_transfer initialized [ INFO] [1677763430.960949513]: Plugin mag_calibration_status loaded [ INFO] [1677763430.962537273]: Plugin mag_calibration_status initialized [ INFO] [1677763430.962659982]: Plugin manual_control loaded [ INFO] [1677763430.978493784]: Plugin manual_control initialized [ INFO] [1677763430.978704825]: Plugin mocap_pose_estimate loaded [ INFO] [1677763430.985256648]: Plugin mocap_pose_estimate initialized [ INFO] [1677763430.985474721]: Plugin mount_control loaded [ WARN] [1677763430.992198784]: Could not retrive negate_measured_roll parameter value, using default (0) [ WARN] [1677763430.992617325]: Could not retrive negate_measured_pitch parameter value, using default (0) [ WARN] [1677763430.993028627]: Could not retrive negate_measured_yaw parameter value, using default (0) [ WARN] [1677763430.994378367]: Could not retrive debounce_s parameter value, using default (4.000000) [ WARN] [1677763430.994773315]: Could not retrive err_threshold_deg parameter value, using default (10.000000) [ INFO] [1677763430.994946492]: Plugin mount_control initialized [ INFO] [1677763430.995337638]: Plugin nav_controller_output loaded [ INFO] [1677763430.996280086]: Plugin nav_controller_output initialized [ INFO] [1677763430.996427690]: Plugin obstacle_distance loaded [ INFO] [1677763430.998864044]: Plugin obstacle_distance initialized [ INFO] [1677763430.999005398]: Plugin odom loaded [ INFO] [1677763431.003775815]: Plugin odom initialized [ INFO] [1677763431.003969096]: Plugin onboard_computer_status loaded [ INFO] [1677763431.006179982]: Plugin onboard_computer_status initialized [ INFO] [1677763431.006315971]: Plugin param loaded [ INFO] [1677763431.009515554]: Plugin param initialized [ INFO] [1677763431.009629304]: Plugin play_tune loaded [ INFO] [1677763431.011194096]: Plugin play_tune initialized [ INFO] [1677763431.011293784]: Plugin px4flow loaded [ INFO] [1677763431.015689044]: Plugin px4flow initialized [ INFO] [1677763431.015837325]: Plugin rallypoint loaded [ INFO] [1677763431.017841440]: Plugin rallypoint initialized [ INFO] [1677763431.017934721]: Plugin rangefinder blacklisted [ INFO] [1677763431.018055919]: Plugin rc_io loaded [ INFO] [1677763431.020993679]: Plugin rc_io initialized [ INFO] [1677763431.021092950]: Plugin safety_area blacklisted [ INFO] [1677763431.021259304]: Plugin setpoint_accel loaded [ INFO] [1677763431.024591388]: Plugin setpoint_accel initialized [ INFO] [1677763431.024814461]: Plugin setpoint_attitude loaded [ INFO] [1677763431.031614877]: Plugin setpoint_attitude initialized [ INFO] [1677763431.031793575]: Plugin setpoint_position loaded process[voxl_voa_reader-3]: started with pid [5809] [ INFO] [1677763431.044507742]: Plugin setpoint_position initialized [ INFO] [1677763431.044661075]: Plugin setpoint_raw loaded [ INFO] [1677763431.050578107]: Plugin setpoint_raw initialized [ INFO] [1677763431.050731127]: Plugin setpoint_trajectory loaded [ INFO] [1677763431.053871804]: Plugin setpoint_trajectory initialized [ INFO] [1677763431.054018263]: Plugin setpoint_velocity loaded [ INFO] [1677763431.057861440]: Plugin setpoint_velocity initialized [ INFO] [1677763431.058059513]: Plugin sys_status loaded [ INFO] [1677763431.065617429]: Plugin sys_status initialized [ INFO] [1677763431.065825242]: Plugin sys_time loaded [ INFO] [1677763431.069884981]: TM: Timesync mode: MAVLINK [ INFO] [1677763431.070426752]: TM: Not publishing sim time [ INFO] [1677763431.071475190]: Plugin sys_time initialized [ INFO] [1677763431.071613002]: Plugin terrain loaded [ INFO] [1677763431.072069981]: Plugin terrain initialized [ INFO] [1677763431.072173836]: Plugin trajectory loaded [ INFO] [1677763431.076089877]: Plugin trajectory initialized [ INFO] [1677763431.076278211]: Plugin tunnel loaded [ INFO] [1677763431.078533784]: Plugin tunnel initialized [ INFO] [1677763431.078687013]: Plugin vfr_hud loaded [ INFO] [1677763431.079045763]: Plugin vfr_hud initialized [ INFO] [1677763431.079083575]: Plugin vibration blacklisted [ INFO] [1677763431.079147690]: Plugin vision_pose_estimate loaded [ INFO] [1677763431.084122742]: Plugin vision_pose_estimate initialized [ INFO] [1677763431.084324929]: Plugin vision_speed_estimate loaded [ INFO] [1677763431.086926752]: Plugin vision_speed_estimate initialized [ INFO] [1677763431.087115867]: Plugin waypoint loaded [ INFO] [1677763431.090351440]: Plugin waypoint initialized [ INFO] [1677763431.090434565]: Plugin wheel_odometry blacklisted [ INFO] [1677763431.090557273]: Plugin wind_estimation loaded [ INFO] [1677763431.091855971]: Plugin wind_estimation initialized [ INFO] [1677763431.092137638]: Autostarting mavlink via USB on PX4 [ INFO] [1677763431.092195242]: Built-in SIMD instructions: ARM NEON [ INFO] [1677763431.092218784]: Built-in MAVLink package version: 2022.12.30 [ INFO] [1677763431.092264200]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta [ INFO] [1677763431.092303211]: MAVROS started. MY ID 1.240, TARGET ID 1.1 process[map_offset_tf-4]: started with pid [5815] [ INFO] [1677763431.158911856]: IMU: Attitude quaternion IMU detected! [ INFO] [1677763431.229495138]: IMU: High resolution IMU detected! process[voxl_tf_publisher-5]: started with pid [5828] [INFO] [1677763431.384036]: Starting MavrosObstacleDistanceInterface as obstacle_distance_interface. process[mav_viz-6]: started with pid [5832] [ INFO] [1677763431.433142221]: RC_CHANNELS message detected! [INFO] [1677763431.787763]: [VoxlTFPublisher] Starting VoxlTFPublisher as voxl_tf_publisher. [INFO] [1677763431.790942]: [VoxlTFPublisher] Reading TF data from file... [INFO] [1677763431.793057]: [VoxlTFPublisher] Loaded extrinsics for Sentinel_V1 airframe [INFO] [1677763431.793786]: [VoxlTFPublisher] Added TF from parent: imu_px4 to child: imu_apps [INFO] [1677763431.794566]: [VoxlTFPublisher] Added TF from parent: imu_apps to child: tracking [INFO] [1677763431.795270]: [VoxlTFPublisher] Added TF from parent: imu_px4 to child: tracking [INFO] [1677763431.795951]: [VoxlTFPublisher] Added TF from parent: body to child: imu_apps [INFO] [1677763431.796639]: [VoxlTFPublisher] Added TF from parent: body to child: imu_px4 [INFO] [1677763431.797443]: [VoxlTFPublisher] Added TF from parent: body to child: stereo_front_l [INFO] [1677763431.798124]: [VoxlTFPublisher] Added TF from parent: body to child: stereo_rear_l [INFO] [1677763431.798811]: [VoxlTFPublisher] Added TF from parent: body to child: tof [INFO] [1677763431.799492]: [VoxlTFPublisher] Added TF from parent: body to child: ground [ INFO] [1677763434.558550501]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1677763434.564239824]: IMU: High resolution IMU detected! [ INFO] [1677763434.791885449]: IMU: Attitude quaternion IMU detected! [ INFO] [1677763434.833896595]: RC_CHANNELS message detected! [ INFO] [1677763436.573897531]: GF: Using MISSION_ITEM_INT [ INFO] [1677763436.574198052]: RP: Using MISSION_ITEM_INT [ INFO] [1677763436.574439406]: WP: Using MISSION_ITEM_INT [ INFO] [1677763436.574704563]: VER: 1.1: Capabilities 0x000000000000e4ff [ INFO] [1677763436.574910500]: VER: 1.1: Flight software: 010d03ff (1c8ab2a0d7000000) [ INFO] [1677763436.575072479]: VER: 1.1: Middleware software: 010d03ff (1c8ab2a0d7000000) [ INFO] [1677763436.575226386]: VER: 1.1: OS software: 0b0000ff (4a1dd8680cd29f51) [ INFO] [1677763436.575387427]: VER: 1.1: Board hardware: 0000a32f [ INFO] [1677763436.575509667]: VER: 1.1: VID/PID: 0483:a32f [ INFO] [1677763436.575674042]: VER: 1.1: UID: 4b56500220393553 [ WARN] [1677763436.576565552]: VER: broadcast request timeout, retries left 4 [ WARN] [1677763436.577700552]: CMD: Unexpected command 520, result 0 [ INFO] [1677763444.562305862]: HP: requesting home position [ INFO] [1677763446.236356538]: FCU: Armed by RC (switch) [ WARN] [1677763448.990843308]: PR: request param #0 timeout, retries left 2, and 639 params still missing [ WARN] [1677763449.570385443]: CMD: Command 410 -- wait ack timeout [ WARN] [1677763449.991487943]: PR: request param #0 timeout, retries left 1, and 639 params still missing [ WARN] [1677763450.561055651]: GF: timeout, retries left 2 [ WARN] [1677763450.562976589]: RP: timeout, retries left 2 [ WARN] [1677763450.564789662]: WP: timeout, retries left 2 [ WARN] [1677763450.992359088]: PR: request param #0 timeout, retries left 0, and 639 params still missing [ WARN] [1677763451.561796015]: GF: timeout, retries left 1 [ WARN] [1677763451.565450963]: RP: timeout, retries left 1 [ WARN] [1677763451.566457942]: WP: timeout, retries left 1 [ERROR] [1677763451.993137057]: PR: request param #0 completely missing. [ WARN] [1677763451.993528307]: PR: 638 params still missing, trying to request next: #1 [ WARN] [1677763452.562561692]: GF: timeout, retries left 0 [ WARN] [1677763452.566823671]: RP: timeout, retries left 0 [ WARN] [1677763452.567351380]: WP: timeout, retries left 0 [ WARN] [1677763452.993801275]: PR: request param #1 timeout, retries left 2, and 638 params still missing [ERROR] [1677763453.563330910]: GF: timed out. [ERROR] [1677763453.567462733]: RP: timed out. [ERROR] [1677763453.567857577]: WP: timed out. [ WARN] [1677763453.994526587]: PR: request param #1 timeout, retries left 1, and 638 params still missing [ INFO] [1677763454.562307420]: HP: requesting home position [ WARN] [1677763454.995094347]: PR: request param #1 timeout, retries left 0, and 638 params still missing [ERROR] [1677763455.997440857]: PR: request param #1 completely missing. [ WARN] [1677763455.997824295]: PR: 637 params still missing, trying to request next: #2 [ WARN] [1677763456.998651065]: PR: request param #2 timeout, retries left 2, and 637 params still missing ``` In this case it shows the data is received on the ros side. continue... ## Reply by Tamas Pal 0 · 2023-04-29 06:20:39 UTC **But from udp protocol side, there is no data** ``` voxl2:/etc/modalai$ roslaunch voxl_autonomy px4.launch ... logging to /home/root/.ros/log/0a864ff8-b8fc-11ed-b6c5-54af97be95ca/roslaunch-m0054-6069.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://m0054:45485/ SUMMARY ======== CLEAR PARAMETERS * /mavros/ PARAMETERS * /mav_viz/arm_len: 0.25 * /mav_viz/body_height: 0.075 * /mav_viz/body_width: 0.075 * /mav_viz/child_frame_id: base_link * /mav_viz/fixed_frame_id: map_offset * /mav_viz/marker_scale: 0.75 * /mav_viz/num_rotors: 4 * /mav_viz/prop_direction: 1 * /mavros/camera/frame_id: base_link * /mavros/cmd/use_comp_id_system_control: False * /mavros/conn/heartbeat_rate: 1.0 * /mavros/conn/system_time_rate: 1.0 * /mavros/conn/timeout: 10.0 * /mavros/conn/timesync_rate: 10.0 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar * /mavros/distance_sensor/hrlv_ez4_pub/id: 0 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/laser_1_sub/id: 3 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270 * /mavros/distance_sensor/laser_1_sub/subscriber: True * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser * /mavros/distance_sensor/lidarlite_pub/id: 1 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270 * /mavros/distance_sensor/lidarlite_pub/send_tf: True * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0 * /mavros/distance_sensor/sonar_1_sub/id: 2 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270 * /mavros/distance_sensor/sonar_1_sub/subscriber: True * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0 * /mavros/fake_gps/eph: 2.0 * /mavros/fake_gps/epv: 2.0 * /mavros/fake_gps/fix_type: 3 * /mavros/fake_gps/geo_origin/alt: 408.0 * /mavros/fake_gps/geo_origin/lat: 47.3667 * /mavros/fake_gps/geo_origin/lon: 8.55 * /mavros/fake_gps/gps_rate: 5.0 * /mavros/fake_gps/mocap_transform: True * /mavros/fake_gps/satellites_visible: 5 * /mavros/fake_gps/tf/child_frame_id: fix ``` continue... ## Reply by Tamas Pal 0 · 2023-04-29 06:23:06 UTC (in reply to Tamas Pal 0) ``` * /mavros/fake_gps/tf/frame_id: map * /mavros/fake_gps/tf/listen: False * /mavros/fake_gps/tf/rate_limit: 10.0 * /mavros/fake_gps/tf/send: False * /mavros/fake_gps/use_mocap: True * /mavros/fake_gps/use_vision: False * /mavros/fcu_protocol: v2.0 * /mavros/fcu_url: udp://127.0.0.1:1... * /mavros/gcs_url: * /mavros/global_position/child_frame_id: base_link * /mavros/global_position/frame_id: map * /mavros/global_position/gps_uere: 1.0 * /mavros/global_position/rot_covariance: 99999.0 * /mavros/global_position/tf/child_frame_id: base_link * /mavros/global_position/tf/frame_id: map * /mavros/global_position/tf/global_frame_id: earth * /mavros/global_position/tf/send: False * /mavros/global_position/use_relative_alt: True * /mavros/image/frame_id: px4flow * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0... * /mavros/imu/frame_id: base_link * /mavros/imu/linear_acceleration_stdev: 0.0003 * /mavros/imu/magnetic_stdev: 0.0 * /mavros/imu/orientation_stdev: 1.0 * /mavros/landing_target/camera/fov_x: 2.0071286398 * /mavros/landing_target/camera/fov_y: 2.0071286398 * /mavros/landing_target/image/height: 480 * /mavros/landing_target/image/width: 640 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL * /mavros/landing_target/listen_lt: False * /mavros/landing_target/mav_frame: LOCAL_NED * /mavros/landing_target/target_size/x: 0.3 * /mavros/landing_target/target_size/y: 0.3 * /mavros/landing_target/tf/child_frame_id: camera_center * /mavros/landing_target/tf/frame_id: landing_target * /mavros/landing_target/tf/listen: False * /mavros/landing_target/tf/rate_limit: 10.0 * /mavros/landing_target/tf/send: True * /mavros/local_position/frame_id: map * /mavros/local_position/tf/child_frame_id: base_link * /mavros/local_position/tf/frame_id: map * /mavros/local_position/tf/send: True * /mavros/local_position/tf/send_fcu: False * /mavros/mission/pull_after_gcs: True * /mavros/mission/use_mission_item_int: True * /mavros/mocap/use_pose: True * /mavros/mocap/use_tf: False * /mavros/odometry/fcu/odom_child_id_des: base_link * /mavros/odometry/fcu/odom_parent_id_des: map * /mavros/plugin_blacklist: ['safety_area', '... * /mavros/plugin_whitelist: [] * /mavros/px4flow/frame_id: px4flow * /mavros/px4flow/ranger_fov: 0.118682 * /mavros/px4flow/ranger_max_range: 5.0 * /mavros/px4flow/ranger_min_range: 0.3 * /mavros/safety_area/p1/x: 1.0 * /mavros/safety_area/p1/y: 1.0 * /mavros/safety_area/p1/z: 1.0 * /mavros/safety_area/p2/x: -1.0 * /mavros/safety_area/p2/y: -1.0 * /mavros/safety_area/p2/z: -1.0 * /mavros/setpoint_accel/send_force: False * /mavros/setpoint_attitude/reverse_thrust: False * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude * /mavros/setpoint_attitude/tf/frame_id: map * /mavros/setpoint_attitude/tf/listen: False * /mavros/setpoint_attitude/tf/rate_limit: 50.0 * /mavros/setpoint_attitude/use_quaternion: False * /mavros/setpoint_position/mav_frame: LOCAL_NED * /mavros/setpoint_position/tf/child_frame_id: target_position * /mavros/setpoint_position/tf/frame_id: map * /mavros/setpoint_position/tf/listen: False * /mavros/setpoint_position/tf/rate_limit: 50.0 * /mavros/setpoint_raw/thrust_scaling: 1.0 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED * /mavros/startup_px4_usb_quirk: True * /mavros/sys/disable_diag: False * /mavros/sys/min_voltage: 10.0 * /mavros/target_component_id: 1 * /mavros/target_system_id: 1 * /mavros/tdr_radio/low_rssi: 40 * /mavros/time/time_ref_source: fcu * /mavros/time/timesync_avg_alpha: 0.6 * /mavros/time/timesync_mode: MAVLINK * /mavros/vibration/frame_id: base_link * /mavros/vision_pose/tf/child_frame_id: vision_estimate * /mavros/vision_pose/tf/frame_id: odom * /mavros/vision_pose/tf/listen: False * /mavros/vision_pose/tf/rate_limit: 10.0 * /mavros/vision_speed/listen_twist: True * /mavros/vision_speed/twist_cov: True * /mavros/wheel_odometry/child_frame_id: base_link * /mavros/wheel_odometry/count: 2 * /mavros/wheel_odometry/frame_id: odom * /mavros/wheel_odometry/send_raw: True * /mavros/wheel_odometry/send_twist: False * /mavros/wheel_odometry/tf/child_frame_id: base_link * /mavros/wheel_odometry/tf/frame_id: odom * /mavros/wheel_odometry/tf/send: False * /mavros/wheel_odometry/use_rpm: False * /mavros/wheel_odometry/vel_error: 0.1 * /mavros/wheel_odometry/wheel0/radius: 0.05 * /mavros/wheel_odometry/wheel0/x: 0.0 * /mavros/wheel_odometry/wheel0/y: -0.15 * /mavros/wheel_odometry/wheel1/radius: 0.05 * /mavros/wheel_odometry/wheel1/x: 0.0 * /mavros/wheel_odometry/wheel1/y: 0.15 * /rosdistro: melodic * /rosversion: 1.14.13 NODES / map_offset_tf (tf/static_transform_publisher) mav_viz (mavros_extras/visualization) mavros (mavros/mavros_node) voxl_mavros_tf (tf/static_transform_publisher) voxl_tf_publisher (voxl_ros_utils/tf_publisher.py) voxl_voa_reader (voxl_ros_utils/mavros_voa_reader.py) ROS_MASTER_URI=http://localhost:11311 process[mavros-1]: started with pid [6089] [ INFO] [1677763594.302371273]: FCU URL: udp://127.0.0.1:14551@:14551 [ INFO] [1677763594.304596586]: udp0: Bind address: 127.0.0.1:14551 [ INFO] [1677763594.304705492]: GCS bridge disabled [ INFO] [1677763594.316001117]: Plugin 3dr_radio loaded [ INFO] [1677763594.317788565]: Plugin 3dr_radio initialized [ INFO] [1677763594.317899659]: Plugin actuator_control loaded [ INFO] [1677763594.322923930]: Plugin actuator_control initialized [ INFO] [1677763594.327214815]: Plugin adsb loaded [ INFO] [1677763594.329652575]: Plugin adsb initialized [ INFO] [1677763594.329773044]: Plugin altitude loaded [ INFO] [1677763594.330462367]: Plugin altitude initialized [ INFO] [1677763594.330551378]: Plugin cam_imu_sync loaded [ INFO] [1677763594.330938669]: Plugin cam_imu_sync initialized [ INFO] [1677763594.331021898]: Plugin camera loaded [ INFO] [1677763594.331399607]: Plugin camera initialized [ INFO] [1677763594.331478617]: Plugin cellular_status loaded [ INFO] [1677763594.333044763]: Plugin cellular_status initialized [ INFO] [1677763594.333180857]: Plugin command loaded [ INFO] [1677763594.337491742]: Plugin command initialized [ INFO] [1677763594.337591013]: Plugin companion_process_status loaded [ INFO] [1677763594.339167523]: Plugin companion_process_status initialized [ INFO] [1677763594.339257680]: Plugin debug_value loaded [ INFO] [1677763594.342772315]: Plugin debug_value initialized [ INFO] [1677763594.342835232]: Plugin distance_sensor blacklisted [ INFO] [1677763594.342923617]: Plugin esc_status loaded [ INFO] [1677763594.344182680]: Plugin esc_status initialized [ INFO] [1677763594.344292159]: Plugin esc_telemetry loaded [ INFO] [1677763594.344753669]: Plugin esc_telemetry initialized [ INFO] [1677763594.344872315]: Plugin fake_gps loaded [ INFO] [1677763594.355347888]: Plugin fake_gps initialized [ INFO] [1677763594.355509711]: Plugin ftp loaded [ INFO] [1677763594.360579503]: Plugin ftp initialized [ INFO] [1677763594.360715805]: Plugin geofence loaded process[voxl_mavros_tf-2]: started with pid [6090] [ INFO] [1677763594.363619242]: Plugin geofence initialized [ INFO] [1677763594.363769867]: Plugin global_position loaded [ INFO] [1677763594.375597107]: Plugin global_position initialized [ INFO] [1677763594.375740128]: Plugin gps_input loaded [ INFO] [1677763594.387234555]: Plugin gps_input initialized [ INFO] [1677763594.387379346]: Plugin gps_rtk loaded [ INFO] [1677763594.392507315]: Plugin gps_rtk initialized [ INFO] [1677763594.392628773]: Plugin gps_status loaded [ INFO] [1677763594.393872523]: Plugin gps_status initialized [ INFO] [1677763594.393956794]: Plugin guided_target loaded [ INFO] [1677763594.396305440]: Plugin guided_target initialized [ INFO] [1677763594.396399086]: Plugin hil loaded [ INFO] [1677763594.409695492]: Plugin hil initialized [ INFO] [1677763594.409840909]: Plugin home_position loaded [ INFO] [1677763594.412537315]: Plugin home_position initialized [ INFO] [1677763594.413229242]: Plugin imu loaded [ INFO] [1677763594.421967055]: Plugin imu initialized [ INFO] [1677763594.422119138]: Plugin landing_target loaded [ INFO] [1677763594.432017784]: Plugin landing_target initialized [ INFO] [1677763594.432172419]: Plugin local_position loaded [ INFO] [1677763594.436771482]: Plugin local_position initialized [ INFO] [1677763594.436986794]: Plugin log_transfer loaded [ INFO] [1677763594.439535596]: Plugin log_transfer initialized [ INFO] [1677763594.439663825]: Plugin mag_calibration_status loaded [ INFO] [1677763594.440381273]: Plugin mag_calibration_status initialized [ INFO] [1677763594.440493930]: Plugin manual_control loaded [ INFO] [1677763594.442869346]: Plugin manual_control initialized [ INFO] [1677763594.443015440]: Plugin mocap_pose_estimate loaded [ INFO] [1677763594.446347055]: Plugin mocap_pose_estimate initialized [ INFO] [1677763594.446559450]: Plugin mount_control loaded [ WARN] [1677763594.450517055]: Could not retrive negate_measured_roll parameter value, using default (0) [ WARN] [1677763594.450822419]: Could not retrive negate_measured_pitch parameter value, using default (0) [ WARN] [1677763594.451102732]: Could not retrive negate_measured_yaw parameter value, using default (0) [ WARN] [1677763594.452057211]: Could not retrive debounce_s parameter value, using default (4.000000) [ WARN] [1677763594.452345336]: Could not retrive err_threshold_deg parameter value, using default (10.000000) [ INFO] [1677763594.452397732]: Plugin mount_control initialized [ INFO] [1677763594.452510909]: Plugin nav_controller_output loaded [ INFO] [1677763594.453355284]: Plugin nav_controller_output initialized [ INFO] [1677763594.453454190]: Plugin obstacle_distance loaded [ INFO] [1677763594.455376325]: Plugin obstacle_distance initialized [ INFO] [1677763594.455496482]: Plugin odom loaded [ INFO] [1677763594.458727002]: Plugin odom initialized [ INFO] [1677763594.458867107]: Plugin onboard_computer_status loaded [ INFO] [1677763594.460823461]: Plugin onboard_computer_status initialized [ INFO] [1677763594.460943825]: Plugin param loaded [ INFO] [1677763594.462820127]: Plugin param initialized [ INFO] [1677763594.462924763]: Plugin play_tune loaded [ INFO] [1677763594.464443409]: Plugin play_tune initialized [ INFO] [1677763594.464535023]: Plugin px4flow loaded [ INFO] [1677763594.468909607]: Plugin px4flow initialized [ INFO] [1677763594.469017107]: Plugin rallypoint loaded [ INFO] [1677763594.470877836]: Plugin rallypoint initialized [ INFO] [1677763594.470928565]: Plugin rangefinder blacklisted [ INFO] [1677763594.471010909]: Plugin rc_io loaded [ INFO] [1677763594.474122732]: Plugin rc_io initialized [ INFO] [1677763594.474175075]: Plugin safety_area blacklisted [ INFO] [1677763594.474270805]: Plugin setpoint_accel loaded [ INFO] [1677763594.476241846]: Plugin setpoint_accel initialized [ INFO] [1677763594.476345596]: Plugin setpoint_attitude loaded [ INFO] [1677763594.482977107]: Plugin setpoint_attitude initialized [ INFO] [1677763594.483139607]: Plugin setpoint_position loaded process[voxl_voa_reader-3]: started with pid [6100] [ INFO] [1677763594.493485388]: Plugin setpoint_position initialized [ INFO] [1677763594.493643096]: Plugin setpoint_raw loaded [ INFO] [1677763594.499962523]: Plugin setpoint_raw initialized [ INFO] [1677763594.500120909]: Plugin setpoint_trajectory loaded [ INFO] [1677763594.503701430]: Plugin setpoint_trajectory initialized [ INFO] [1677763594.503849294]: Plugin setpoint_velocity loaded [ INFO] [1677763594.507733513]: Plugin setpoint_velocity initialized [ INFO] [1677763594.507937992]: Plugin sys_status loaded [ INFO] [1677763594.521397367]: Plugin sys_status initialized [ INFO] [1677763594.521567888]: Plugin sys_time loaded [ INFO] [1677763594.524604815]: TM: Timesync mode: MAVLINK [ INFO] [1677763594.524918096]: TM: Not publishing sim time [ INFO] [1677763594.525942940]: Plugin sys_time initialized [ INFO] [1677763594.526064086]: Plugin terrain loaded [ INFO] [1677763594.526400700]: Plugin terrain initialized [ INFO] [1677763594.526480075]: Plugin trajectory loaded [ INFO] [1677763594.529417419]: Plugin trajectory initialized [ INFO] [1677763594.529524711]: Plugin tunnel loaded [ INFO] [1677763594.531140232]: Plugin tunnel initialized [ INFO] [1677763594.531269190]: Plugin vfr_hud loaded [ INFO] [1677763594.532441534]: Plugin vfr_hud initialized [ INFO] [1677763594.532513982]: Plugin vibration blacklisted [ INFO] [1677763594.532608513]: Plugin vision_pose_estimate loaded [ INFO] [1677763594.537461586]: Plugin vision_pose_estimate initialized [ INFO] [1677763594.537616846]: Plugin vision_speed_estimate loaded [ INFO] [1677763594.539960127]: Plugin vision_speed_estimate initialized [ INFO] [1677763594.540195596]: Plugin waypoint loaded [ INFO] [1677763594.547666117]: Plugin waypoint initialized [ INFO] [1677763594.547743044]: Plugin wheel_odometry blacklisted [ INFO] [1677763594.547857836]: Plugin wind_estimation loaded [ INFO] [1677763594.548209034]: Plugin wind_estimation initialized [ INFO] [1677763594.548361377]: Autostarting mavlink via USB on PX4 [ INFO] [1677763594.548394867]: Built-in SIMD instructions: ARM NEON [ INFO] [1677763594.548407680]: Built-in MAVLink package version: 2022.12.30 [ INFO] [1677763594.548435075]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta [ INFO] [1677763594.548447523]: MAVROS started. MY ID 1.240, TARGET ID 1.1 process[map_offset_tf-4]: started with pid [6113] process[voxl_tf_publisher-5]: started with pid [6120] [INFO] [1677763594.821898]: Starting MavrosObstacleDistanceInterface as obstacle_distance_interface. process[mav_viz-6]: started with pid [6130] [INFO] [1677763595.246324]: [VoxlTFPublisher] Starting VoxlTFPublisher as voxl_tf_publisher. [INFO] [1677763595.248479]: [VoxlTFPublisher] Reading TF data from file... [INFO] [1677763595.249219]: [VoxlTFPublisher] Loaded extrinsics for Sentinel_V1 airframe [INFO] [1677763595.249844]: [VoxlTFPublisher] Added TF from parent: imu_px4 to child: imu_apps [INFO] [1677763595.250559]: [VoxlTFPublisher] Added TF from parent: imu_apps to child: tracking [INFO] [1677763595.251221]: [VoxlTFPublisher] Added TF from parent: imu_px4 to child: tracking [INFO] [1677763595.251885]: [VoxlTFPublisher] Added TF from parent: body to child: imu_apps [INFO] [1677763595.252552]: [VoxlTFPublisher] Added TF from parent: body to child: imu_px4 [INFO] [1677763595.253233]: [VoxlTFPublisher] Added TF from parent: body to child: stereo_front_l [INFO] [1677763595.253866]: [VoxlTFPublisher] Added TF from parent: body to child: stereo_rear_l [INFO] [1677763595.254480]: [VoxlTFPublisher] Added TF from parent: body to child: tof [INFO] [1677763595.255118]: [VoxlTFPublisher] Added TF from parent: body to child: ground ``` In this case the data is not received from udp protocol side. How to fix this ? I am using voxl-vision-hub_1.6.1_arm64.deb and voxl-mavlink_0.1.0_arm64.deb and flight-core as external flight controller. **voxl-mavlink-server.conf** file: ``` { "primary_static_gcs_ip": "192.168.1.102", "secondary_static_gcs_ip": "192.168.1.101", "onboard_port_to_autopilot": 14556, "onboard_port_from_autopilot": 14557, "gcs_port_to_autopilot": 14558, "gcs_port_from_autopilot": 14559, "en_external_uart_fc": true, "autopilot_uart_bus": 1, "autopilot_uart_baudrate": 921600, "en_external_ap_timesync": 1, "udp_mtu": 512 } ``` ## Reply by Tamas Pal 0 · 2023-04-29 09:28:10 UTC (in reply to Tamas Pal 0) ``` voxl2:~$ voxl-mavlink-server loading our own config file ================================================================= Parameters as loaded from config file: primary_static_gcs_ip: 192.168.1.102 secondary_static_gcs_ip: 192.168.1.101 onboard_port_to_autopilot: 14556 onboard_port_from_autopilot: 14557 gcs_port_to_autopilot: 14558 gcs_port_from_autopilot: 14559 en_external_uart_fc: 1 autopilot_uart_bus: 1 autopilot_uart_baudrate: 921600 udp_mtu: 512 en_external_ap_timesync: 1 ================================================================= existing instance of voxl-mavlink-server found, attempting to stop it Successfully opened /dev/ttyHS1 starting qrb5165 external AP receive thread Adding primary GCS IP address from conf file to list: 192.168.1.102 Added new UDP connection to 192.168.1.102 Adding secondary manual gcs IP address to udp connection list: 192.168.1.101 Added new UDP connection to 192.168.1.101 Init complete, entering main loop Detected Autopilot Mavlink SYSID 1 detected system time has already been set failed to send to uart socket: Resource temporarily unavailable Error, UART write incomplete CONNECTED to GCS at 192.168.1.101 failed to send to uart socket: Resource temporarily unavailable Error, UART write incomplete failed to send to uart socket: Resource temporarily unavailable Error, UART write incomplete ``` ## Reply by Tamas Pal 0 · 2023-05-01 10:47:23 UTC (in reply to Tamas Pal 0) @Chad-Sweet @modaltb what should be the fcu url for the updated mavlink server for mavros connection? Please help me to fix this